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Chapter 2 Robot: Spatial Descriptions and Transformations

This document discusses spatial descriptions and transformations in robotics. It covers topics like frames of reference, positions and orientations, transformation operators like translation and rotation, and how to represent coordinate systems and transformations mathematically. Positions are represented by vectors, orientations by matrices, and transformations map descriptions between frames of reference using operators and transformation arithmetic.

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25 views

Chapter 2 Robot: Spatial Descriptions and Transformations

This document discusses spatial descriptions and transformations in robotics. It covers topics like frames of reference, positions and orientations, transformation operators like translation and rotation, and how to represent coordinate systems and transformations mathematically. Positions are represented by vectors, orientations by matrices, and transformations map descriptions between frames of reference using operators and transformation arithmetic.

Uploaded by

workumogess3
Copyright
© © All Rights Reserved
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Chapter 2 robot

Spatial descriptions
and transformations
Main point.
DESCRIPTION:
Transformation
POSITIONS,
ORIENTATIONS,
FRAMES

Con
MAPPINGS: CHANGING
DESCRIPTIONS FROM FRAME TO
FRAM
OPERATORS: TRANSLATIONS,
ROTATIONS, AND TRANSFORMATIONS
TRANSFORMATION ARITHMETIC
TRANSFORM EQUATIONS.
coordinate systems
Translational mapping

Con
1. positions: it represent like{A};{B};{C}
A point A P is represented as a vector and
can equivalently be thought of as a position in space, or
simply as an ordered set of three numbers. Individual
elements of a vector are given the subscripts x, y, and z:
A P=[PX,PY,PZ].1.
2. orientation:
{A} Az

Ax
Ay
figure 2.1: Vector relative to frame (example).

Ap

Con
NB.1.position of apposition of a point is
represented with a vector, and orientation
of a body is represented with a matrix.
The dot product of two unit vectors yields
the cosine of the angle between them. this
is called direction cosine.
In order to describe the orientation of a
body, we will attach a coordinate system
to the body and then give a description of
this coordinate system relative to the
reference system.

Con
3.frame:
EXAMPLE 2.1Figure 2.6 shows a
frame {B} that is rotated relative to
frame {A} about Z by 30 degrees.
Here, Z is pointing out of the page.

YB
YA

XB

ZB(0,0,1)
ZA
XA

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